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How to Choose a Reinforcement-learning Algorithm

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arXiv 2024年

作者： Bongratz, Fabian Golkov, Vladimir Mautner, Lukas Libera, Luca Della Heetmeyer, Frederik Czaja, Felix Rodemann, Julian Cremers, Daniel Computer Vision Group Technical University of Munich Germany Munich Center for Machine Learning Germany Department of Statistics Ludwig-Maximilians-Universität Munich Germany

The field of reinforcement learning offers a large variety of concepts and methods to tackle sequential decision-making problems. This variety has become so large that choosing an algorithm for a task at hand can be challenging. In this work, we streamline the process of choosing reinforcement-learning algorithms and action-distribution families. We provide a structured overview of existing methods and their properties, as well as guidelines for when to choose which methods. An interactive version of these guidelines is available online at https://***/.MSC Codes 62M45 © 2024, CC BY-NC-SA.

关键词： Adversarial machine learning

LiDAR View Synthesis for Robust Vehicle Navigation Without Expert Labels

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LiDAR View Synthesis for Robust Vehicle Navigation Without E...

International Conference on Intelligent Transportation

作者： Jonathan Schmidt Qadeer Khan Daniel Cremers Computer Vision Group School of Computation Information and Technology Technical University of Munich Munich Center for Machine Learning (MCML) University of Oxford

Deep learning models for self-driving cars require a diverse training dataset to manage critical driving scenarios on public roads safely. This includes having data from divergent trajectories, such as the oncoming traffic lane or sidewalks. Such data would be too dangerous to collect in the real world. Data augmentation approaches have been proposed to tackle this issue using RGB images. However, solutions based on LiDAR sensors are scarce. Therefore, we propose synthesizing additional LiDAR point clouds from novel viewpoints without physically driving at dangerous positions. The LiDAR view synthesis is done using mesh reconstruction and ray casting. We train a deep learning model, which takes a LiDAR scan as input and predicts the future trajectory as output. A waypoint controller is then applied to this predicted trajectory to determine the throttle and steering labels of the ego-vehicle. Our method neither requires expert driving labels for the original nor the synthesized LiDAR sequence. Instead, we infer labels from LiDAR odometry. We demonstrate the effectiveness of our approach in a comprehensive online evaluation and with a comparison to concurrent work. Our results show the importance of synthesizing additional LiDAR point clouds, particularly in terms of model robustness. Code and supplementary visualizations are available at: https://***/lidar-synthesis/

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Pattern Discovery in an EEG Database of Depression Patients: Preliminary Results 14

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Pattern Discovery in an EEG Database of Depression Patients:...

14th International Conference on Measurement, MEASUREMENT 2023

作者： Hlavackova-Schindler, Katerina Pacher, Christina Plant, Claudia Lazarenko, Mykola Palus, Milan Hlinka, Jaroslav Kathpalia, Aditi Brunovsky, Martin University of Vienna Data Mining and Machine Learning Research Group Faculty of Computer Science Vienna Austria Czech Academy of Sciences Institute of Computer Science Department of Complex Systems Prague Czech Republic National Institute of Mental Health Clinical Research Programme Klecany Czech Republic

ISBN: (纸本)9788097262976

The ability to predict response to medication treatment of depressed patients, either early in the course of therapy or before treatment even begins can avoid trials of ineffective therapy and save patients from prolonged intervals of suffering. Symptom alleviation requires 4-6 weeks after starting current antidepressive medication. Based on the data basis of the patients and their EEG before and on the 7th day of treatment we apply data mining, causal discovery and machine learning approaches to discover interactive patterns between patient's brain regions to separate the treatment responders from non-responders. In this paper we report the preliminary results of our international project "learning Synchronization Patterns in Multivariate Neural Signals for Prediction of Response to Antidepressants"ongoing at the University of Vienna, the Czech Academy of Sciences and the National Institute of Mental Health in the Czech Republic. © 2023 Institute of Measurement Science, Slovak Academy o.

关键词： Data mining

Multi Agent Navigation in Unconstrained Environments using a Centralized Attention based Graphical Neural Network Controller

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Multi Agent Navigation in Unconstrained Environments using a...

International Conference on Intelligent Transportation

作者： Yining Ma Qadeer Khan Daniel Cremers Computer Vision Group School of Computation Information and Technology Technical University of Munich Munich Center for Machine Learning (MCML) University of Oxford

In this work, we propose a learning based neural model that provides both the longitudinal and lateral control commands to simultaneously navigate multiple vehicles. The goal is to ensure that each vehicle reaches a desired target state without colliding with any other vehicle or obstacle in an unconstrained environment. The model utilizes an attention based Graphical Neural Network paradigm that takes into consideration the state of all the surrounding vehicles to make an informed decision. This allows each vehicle to smoothly reach its destination while also evading collision with the other agents. The data and corresponding labels for training such a network is obtained using an optimization based procedure. Experimental results demonstrate that our model is powerful enough to generalize even to situations with more vehicles than in the training data. Our method also outperforms comparable graphical neural network architectures. Project page which includes the code and supplementary information can be found here: https://***/multi-agent-control/

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A survey of historical document image datasets

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A survey of historical document image datasets

作者： Nikolaidou, Konstantina Seuret, Mathias Mokayed, Hamam Liwicki, Marcus EISLAB Machine Learning Group Luleå University of Technology Aurorum 1 Norrbotten Luleå97187 Sweden Pattern Recognition Lab Computer Vision Group Friedrich-Alexander-Universität Martensstr. 3 Bavaria Erlangen91058 Germany

This paper presents a systematic literature review of image datasets for document image analysis, focusing on historical documents, such as handwritten manuscripts and early prints. Finding appropriate datasets for historical document analysis is a crucial prerequisite to facilitate research using different machine learning algorithms. However, because of the very large variety of the actual data (e.g., scripts, tasks, dates, support systems, and amount of deterioration), the different formats for data and label representation, and the different evaluation processes and benchmarks, finding appropriate datasets is a difficult task. This work fills this gap, presenting a meta-study on existing datasets. After a systematic selection process (according to PRISMA guidelines), we select 65 studies that are chosen based on different factors, such as the year of publication, number of methods implemented in the article, reliability of the chosen algorithms, dataset size, and journal outlet. We summarize each study by assigning it to one of three pre-defined tasks: document classification, layout structure, or content analysis. We present the statistics, document type, language, tasks, input visual aspects, and ground truth information for every dataset. In addition, we provide the benchmark tasks and results from these papers or recent competitions. We further discuss gaps and challenges in this domain. We advocate for providing conversion tools to common formats (e.g., COCO format for computer vision tasks) and always providing a set of evaluation metrics, instead of just one, to make results comparable across studies. © 2022, The Author(s).

关键词： Deterioration

An Efficient Multi-band Infrared Small Objects Detection Approach for Low-Altitude Artificial Intelligence of Thing

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IEEE Internet of Things Journal 2025年第12期12卷 20757-20772页

作者： Peng, Yuhuai Wang, Jing Wang, Wenqian Liu, Lei Atiquzzaman, Mohammed Guizani, Mohsen Dustdar, Schahram Northeastern University School of Computer Science and Engineering Shenyang110819 China Zhiyuan Research Institute Hangzhou310024 China Northeastern University School of Computer Science and Engineering Shenyang110819 China Xidian University State Key Laboratory of Integrated Service Networks Xi'an710071 China University of Oklahoma School of Computer Science NormanOK73019 United States Mohamed Bin Zayed University of Artificial Intelligence Department of Machine Learning Masdar United Arab Emirates Technische Universität Wien Distributed Systems Group Vienna1040 Austria

As a cutting-edge technology of low-altitude Artificial Intelligence of Thing (AIoT), UAV object detection significantly enhances the surveillance services capabilities of low-altitude AIoT. However, the difficulty of object detection is exacerbated by the high proportion of small and obscure objects in the captured images. To address the mentioned challenges, we present an efficient multi-band infrared small object detection approach for low-altitude intelligent surveillance services. Firstly, we propose the Multi-band infrared Image Fusion algorithm based on Cascade-GAN (MIF-CGAN), which produces fused images with high information entropy and high contrast. Then, the Transformer-based Multi-scale Dense Small Object Detection (MsDSOD) algorithm is proposed. The algorithm consists of the Global-Local Object Detection (G-LOD) network, the Object Dense Area Extraction (O-DAE) module, and the Weighted Boxes Fusion (WBF) module. It extracts small objects features at different scales from infrared images and fuses the global and local detection results to accurately identify small objects in dense scenes. Furthermore, compared to the traditional algorithms, the mean Average Precision (mAP) of MsDSOD is improved by 0.80% and the Average Precision in small object detection (APs) is improved by 0.72%. The proposed algorithm is optimally suited to deal with complex scenes with dense small objects and background occlusion. © 2014 IEEE.

关键词： Infrared imaging

Exploring the potential of collaborative UAV 3D mapping in Kenyan savanna for wildlife research

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arXiv 2024年

作者： Shukla, Vandita Morelli, Luca Trybala, Pawel Remondino, Fabio Gan, Wentian Yu, Yifei Wang, Xin Trento Italy Computer Vision and Machine Learning Systems Group Institute for Geoinformatics University of Muenster Germany Dept. of Civil Environmental and Mechanical Engineering University of Trento Italy School of Geodesy and Geomatics Wuhan University China

UAV-based biodiversity conservation applications have exhibited many data acquisition advantages for researchers. UAV platforms with embedded data processing hardware can support conservation challenges through 3D habitat mapping, surveillance and monitoring solutions. High-quality real-time scene reconstruction as well as real-time UAV localization can optimize the exploration vs exploitation balance of single or collaborative mission. In this work, we explore the potential of two collaborative frameworks - Visual Simultaneous Localization and Mapping (V-SLAM) and Structure-from-Motion (SfM) for 3D mapping purposes and compare results with standard offline approaches. © 2024, CC BY-NC-SA.

关键词： Unmanned aerial vehicles (UAV)

A Comparison of Prompt Engineering Techniques for Task Planning and Execution in Service Robotics

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arXiv 2024年

作者： Bode, Jonas Pätzold, Bastian Memmesheimer, Raphael Behnke, Sven The Autonomous Intelligent Systems group Computer Science Institute VI – Intelligent Systems and Robotics Lamarr Institute for Machine Learning and Artificial Intelligence Center for Robotics University of Bonn Germany

Recent advances in Large Language Models (LLMs) have been instrumental in autonomous robot control and human-robot interaction by leveraging their vast general knowledge and capabilities to understand and reason across a wide range of tasks and scenarios. Previous works have investigated various prompt engineering techniques for improving the performance of LLMs to accomplish tasks, while others have proposed methods that utilize LLMs to plan and execute tasks based on the available functionalities of a given robot platform. In this work, we consider both lines of research by comparing prompt engineering techniques and combinations thereof within the application of high-level task planning and execution in service robotics. We define a diverse set of tasks and a simple set of functionalities in simulation, and measure task completion accuracy and execution time for several state-of-the-art models. We make our code, including all prompts, available at https://***/AIS-Bonn/Prompt_Engineering. Copyright © 2024, The Authors. All rights reserved.

关键词： Human robot interaction

DiffSSC: Semantic LiDAR Scan Completion using Denoising Diffusion Probabilistic Models

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arXiv 2024年

作者： Cao, Helin Behnke, Sven The Autonomous Intelligent Systems group Computer Science Institute VI – Intelligent Systems and Robotics The Center for Robotics The Lamarr Institute for Machine Learning and Artificial Intelligence University of Bonn Germany

Perception systems play a crucial role in autonomous driving, incorporating multiple sensors and corresponding computer vision algorithms. 3D LiDAR sensors are widely used to capture sparse point clouds of the vehicle’s surroundings. However, such systems struggle to perceive occluded areas and gaps in the scene due to the sparsity of these point clouds and their lack of semantics. To address these challenges, Semantic Scene Completion (SSC) jointly predicts unobserved geometry and semantics in the scene given raw LiDAR measurements, aiming for a more complete scene representation. Building on promising results of diffusion models in image generation and super-resolution tasks, we propose their extension to SSC by implementing the noising and denoising diffusion processes in the point and semantic spaces individually. To control the generation, we employ semantic LiDAR point clouds as conditional input and design local and global regularization losses to stabilize the denoising process. We evaluate our approach on autonomous driving datasets and our approach outperforms the state-of-the-art for SSC. © 2024, CC BY.

关键词： Semantics